Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
6-8-2005
Abstract
In this paper we present an experimental implementation of the flocking algorithm presented by H.G. Tanner et al., (2003) for the double integrator model, in the case of wheeled mobile robots (WMR). We use the look ahead concept to feedback linearize the WMR model and obtain its double integrator form in which we apply the control signals in the form of voltages in wheel motors. A virtual leader is used to steer the flock in the desired direction. Comparisons of the experimental results with simulation verify the robustness of this algorithm to model uncertainties and communication delays.
Publisher
IEEE
Publication Title
Proceedings of the 2005 American Control Conference
ISSN
0743-1619
First Page
4917
Last Page
4922
DOI
10.1109/ACC.2005.1470774
Language (ISO)
English
Sponsorship
IEEE
Keywords
Linear feedback control systems, Lyapunov method, Mechanical sensors
Recommended Citation
Abdallah, Chaouki T.; A. Regmi; R. Sandoval; R. Byrne; and H. Tanner. "Experimental implementation of flocking algorithms in wheeled mobile robots." Proceedings of the 2005 American Control Conference (2005): 4917-4922. doi:10.1109/ACC.2005.1470774.
